Virtual System Integration and
Early Functional Validation in the Whole Vehicle
Gerhard Steininger, Dassault Systèmes
1
Agenda
1. How to control system complexity?
2. System Engineering Approach – Have we done the right
things?
3. Virtual Integration in the whole vehicle
4. Emergency Brake Assistance as the Use Cases
5. Conclusion and Outlook
Why do we need automotive safety control systems?
3
And why do we need Advanced Driver
Assistance Systems (ADAS)?
4
Control systems and embedded systems are core
technologies to improve automotive safety and comfort
Electronic Stability Control
(ESC)
Lane Keeping Assistance System
(LKAS)
5
Example ADAS: Permanently increasing complexity
Source: BMW
Adaptive Cruise Control
Front Collision Warning
Lane Departure Warning
Lane Keeping Assistance
Lane Change Warning
Parking Assistance
Light Assistance System
Night Vision Pedestrian Detection
Up to semi and highly automated driving
6
Google self-driving car activities
7
Regulation pushes requirements
Normal Driving
Hazard
Pre-Crash
ACTIVE SAFETY
In-Crash
Post-Crash
PASSIVE SAFETY
Historically almost no regulatory enforcement
Stronger consideration by ECE, FMVSS e.g.:
US:
Passive Safety Systems are very
strongly promoted (ECE, FMVSS)
- Electronic Stability Control (ESC) mandatory from 2010
Historically there are 3 focus areas:
Europe:
- ESC from 2011, Brake Assist from 2011 for cars
- ESC incl. roll over prevention from 2011 for trucks and
trailers
- Emergency brake for trucks from 2014
- Lane departure warning for trucks from 2016
- ABS for Motorcycles >125 cc from 2016
ECE: Economic Commission for Europe
FMVSS: Federal Motor Vehicle Safety Standards
1. Body Structure and vehicle design
- Vehicle structure
- Vehicle interiors
- Pedestrian protection
2. Seatbelts
3. Airbags
8
Different targets
Ergonomics
Weight
Quality
Drivability
Integrated
Functions
Environment / Emission
Cost of Ownership
Ride Comfort
Styling
Handling
Safety
3DX Forum Korea 26 November 2013
9
Current state
 Approximately
Early
evaluation
and
validation
60% of
development time
no real prototype
available
 Less
Validate
global
vehicle
10%
than
of the engineers
get evaluation
experience in
global vehicle
3DX Forum Korea 26 November 2013
10
Managing the validation effort
Validation and Testing Effort
Variants
Technology
Processes
Integration Effort
Network Functions
Tools
Methods
Time
11
Merging validation and verification: X-in-the-Loop
Verification
 Have we done things correctly?
 Tested on system level and below
 Tested versus specifications
Validation
 Have we done the correct things?
 Tested on top level
 Tested versus expectations and design goals
X-in-the-loop approach
 Early integration of components, systems and
algorithms into a virtual vehicle prototype
 Seamless evaluation and validation by virtual
test driving with corporate maneuver catalogs
and evaluation criteria
12
Seamless integration throughout the development process
Seamless integration using CarMaker
Office / MiL
Office / SiL
Lab / HiL
Real Vehicle
Models & Parameters
Test Maneuvers & Evaluation Criteria
13
Virtual test driving using an integration and test platform
CarMaker
Functional Mock-Up Interface for Co-Simulation
Engine
with controls
Drivetrain
with controls
Chassis
with controls
ADAS
with controls
E/E
14
Maneuver-based testing by virtual test driving
 Verification of safety requirements
 Validation of key functions in connected systems
ACC / CAS
LDW / LKAS
Autonomous Driving
Parking Assistance
AFLS
Active/Passive Safety
15
Use case: Emergency Brake Assistance (EBA)

DS car model
Modeled in CATIA
Requirements
Geometry

ECU

MATLAB /
Simulink model
for Emergency
Braking

FMU in Autosar
Builder
generated

Modeled in CCode
Radar / Ultrasonic
/ Lidar / Camera

1 – 3 independent beams with 10 – 15 m
Behind windscreen or at the front
For obstacle identification
DA Sensor


Brake



FMU integrated in
V6
Dymola model
from Modelon /
Modellica
Chassis library
16
The EBA has 2 - 3 Functionalities
1
Emergency
Brake
Assistance
PreFill
Brake Assist
Support
Preconditioning of
the Brake System
Sensitivity Adjustment
of Brake Assist
Thresholds
2
Autonomous
Braking
3
Graded,
Autonomous
Deceleration
Request
Vehicle
Driver Information
Headup Display
Kombi HMI
ADAS
ACC
Emergency Break Assist
Pre-fill
Brake Assist Support
Autonomous Braking
Chassis
Braking Systems
ABS
ESC
Steering
Suspension
17
Required behavior models for the Emergency Brake Assist
Brake
Behavior
Vehicle Response
Autonomous Braking
Sensor
Behavior
Environment
Model
Warning & Brake Pre-Fill
• Adaptive Cruise
Control
• Lane Keeping
Support
Hazard Identification
Speed
HMI Behavior
Control
Behavior
Therefore functional
Mock-up of the
whole vehicle is
needed.
Vehicle Behavior
TTC – Time to Collision
Time
18
Virtualization of the development process
Engineering Processes
Early validation of systems and components along the V-cycle
6. Integration and Verification
6
5. Preparation of
different components
specification
Documents and
delivery of models from
suppliers
5
1. Clarification of
requirements
4
4. Addition of
concept
properties /
functional
structure
1
3
3. Addition of internal
requirements
2
Virtual ECU
2. Definition of
fundamental concept
properties
Model
Software
Hardware
Vehicle
-in-the-Loop
19
From Requirements to Systems and
Simulation with Verification and Validation
20
Integrating of virtual test driving into the development
process
• Design models
• Component models
• Controller models
• Test catalogs
• Evaluation criteria
7
6
5
Maneuvers&& criteria
Criteria in
Maneuvers
inCarMaker
CarMaker
Test
Conduction
4
1
3
2
• Simulation results
• Evaluation results
• Test reports
Performance Tests
• Controller Robustness
• Collision
Functionavoidance
Tests
• Braking
• AEBS distance …
• ACC
Safety Software Tests
• ESP…
• ISO 26262
• Communication
• Diagnostics …
21
Systems engineering based on GAAG* recommendations
Remarks
The figure
represents the
GAAG MBSE
Working Group
summary about
the future System
Engineering
process
 6 checkpoints
along the VModel to verify
the deliverables
and context
 The process
includes all R-FL-P relevant
artefacts
*: GAAG: Global Automotive Advisory Group
22
Major steps according the GAAG MBSE masterplan
2
Definition of fundamental
concept properties
Clarification of requirements
4
3
5
Addition of concept
properties / functional
structures
Addition of internal
requirements
6
Preparation of different
component specs
Integration and verification
Test and Integration Platform
MATLAB
SIMULINK
DYMOLA
FMI
1
others
Authoring
Tools
23
GAAG objectives and MBSE ** roadmap
Objective: Exchange of Systems Engineering Objects interfacing suppliers
(solution partners) and OEM’s
Actual focus of GAAG WG
model based systems
engineering
Functions
(evtl. solved by FMI*
and AutoSAR) tbd.
Requirements
ReqIF
Logic
Behavioral
Models
FMI*
Closing gaps
Structuring and linking
models
Geometrical
part of Physic JT
*: FMI: Functional Mock up Interface
**: Model Based System Engineering
Full SE
today
Integration with CAE (FEA,
CFD, ..)
Interoperability between domains and disciplines for EBA
Product Development
Comments
B
E
EE
C
PT
Electrical
Mechanical
Chassis
Chassis
Braking Systems
EBA
Pre Fill
ABS
Brake Assist Support
SW
Engineering Disciplines
Body
P
ESC
Steering
Suspension
Autonomous
Braking
- There are different PD
domains like Body,
Chassis EE and
Powertrain
- Within the domains are
different engineering
disciplines like
mechanical, electrical
and SW Engineering
- Every domain and the
different disciplines are
using different models
and methods
- Objective is to integrate
domains and disciplines
and aggregate it from
subs-system to system
and vehicle level
The traditional PLM platform has to become a SE platform
Product structure and change management
Consistent, up-to-date product data
Consistent
Early phase
Change Management
Early data
Cost
Conceptional
alternatives
Weight
Parametric
construction
Features
S W a ls
P ro d u k t
S y st e m
A rc h it e k t u r
S o ft w a re
L o g istik
A n fo rd e ru n g s
M anagem ent
In t e g r. / V a lid .
G e sa m t - F z g .
P ro d u k t - S t r.
K o n fig .- M g m t .
Independent view
In t e g r. / V a lid .
G e sa m t sy st e m
S y st e m
D e sig n
V e rifik a tio n
T e ilsy st e m
S y st e m
S p e zifik a tio n
E n tw ic k lu n g
Kom p. / S W
V e rifik a tio n
Kom p. / S W
H e rst e llu n g
Kom p. / S W
E/E
Control of
Commonality
From target to
project controlling
Modularity
Configuration
management
Target
management
Integration
CAD/ CATIA
Integration CAD/
Construction
E/E
E/E
E/E
Embedded
Software
Behavior Models
Functions
Electrics/Electronics
3D Experience
26
MBSE is possible with organization, processes and latest
Technology
SystemResponsible
Vehicle Architect
and methods
and standards
System related
Commitment
Function
responsible
and roles
Test Manager
Component
Responsible
HMI- Responsible
R
F
L
P
ReqIF
27
Thank you. Questions?
28